Hi Guys. Im trying to use the Sparkfun Atomic 6 DOF XBee board (SEN-09184) for some head tracking and attempting to get some sensible readings from it. I've looked around and it seems that the Discrete Cosine Matrix algorithm is the way forward. Im not sure if this is correct but looking at the various youtube clips and what not it seems like the best approach. I based this on the DCM Draft from DIY Drones.

The problem is, it doesnt work. The Gyros get messed up a little too much and the accelerometer correction doesnt seem to do a lot. I have a video of it here:http://www.youtube.com/watch?v=Ql68yM8jRvI

You know, I'd totally forgotten filtering! How silly of me! I've gone back to a kalman filter (from a chap on this very forum) and added filtering of the YAW values and I've seen some improvement. I'll keep looking at DCM stuff though as I think it might be more robust. Cheers for the reminder there.

Quite good work, but yea I can see it drifting. Hope by this time, you have corrected that problem.

I also want to develop code for quad. Have been reading all over the net from pass 2 months. During that i come across different algorithm, then I planned to use complementary filter (bcoz not much math involved as compared to kalman filter). Then I saw this DCM algorithm.

Can you suggest which algorithm for filtering is good to go ? I'm bit confused here.